{"id":"https://openalex.org/W4312312412","doi":"https://doi.org/10.1109/case49997.2022.9926626","title":"Trajectory Tracking Kinematic Control of Omnidirectional Mobile Robots via Active Disturbance Rejection Control with Anti-Peaking Mechanism","display_name":"Trajectory Tracking Kinematic Control of Omnidirectional Mobile Robots via Active Disturbance Rejection Control with Anti-Peaking Mechanism","publication_year":2022,"publication_date":"2022-08-20","ids":{"openalex":"https://openalex.org/W4312312412","doi":"https://doi.org/10.1109/case49997.2022.9926626"},"language":"en","primary_location":{"id":"doi:10.1109/case49997.2022.9926626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926626","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"},"type":"article","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5024323175","display_name":"Mario Ram\u00edrez\u2010Neria","orcid":"https://orcid.org/0000-0001-5935-9083"},"institutions":[{"id":"https://openalex.org/I87806610","display_name":"Ibero-American University Puebla","ror":"https://ror.org/00pcv0g02","country_code":"MX","type":"education","lineage":["https://openalex.org/I87806610"]},{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":true,"raw_author_name":"M. Ramirez-Neria","raw_affiliation_strings":["InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de México,México,CP 01219"],"affiliations":[{"raw_affiliation_string":"InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de México,México,CP 01219","institution_ids":["https://openalex.org/I87806610","https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5002475478","display_name":"A. Luviano-Juarez","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"A. Luviano-Juarez","raw_affiliation_strings":["UPIITA-IPN,Mexico City,Mexico","UPIITA-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"UPIITA-IPN,Mexico City,Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"UPIITA-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5040423326","display_name":"Rafa\u0142 Mado\u0144ski","orcid":"https://orcid.org/0000-0002-1798-0717"},"institutions":[{"id":"https://openalex.org/I159948400","display_name":"Jinan University","ror":"https://ror.org/02xe5ns62","country_code":"CN","type":"education","lineage":["https://openalex.org/I159948400"]},{"id":"https://openalex.org/I12615008","display_name":"Beijing Normal University - Hong Kong Baptist University United International College","ror":"https://ror.org/04snvc712","country_code":"CN","type":"education","lineage":["https://openalex.org/I12615008"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"R. Madonski","raw_affiliation_strings":["Jinan University,Energy and Electricity Research Center,International Energy College,Zhuhai,P. R. China,519070"],"affiliations":[{"raw_affiliation_string":"Jinan University,Energy and Electricity Research Center,International Energy College,Zhuhai,P. R. China,519070","institution_ids":["https://openalex.org/I12615008","https://openalex.org/I159948400"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5003688475","display_name":"E. G. Hern\u00e1ndez-Mart\u00ednez","orcid":"https://orcid.org/0000-0002-2716-6196"},"institutions":[{"id":"https://openalex.org/I87806610","display_name":"Ibero-American University Puebla","ror":"https://ror.org/00pcv0g02","country_code":"MX","type":"education","lineage":["https://openalex.org/I87806610"]},{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"E. G. Hernandez-Martinez","raw_affiliation_strings":["InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de México,México,CP 01219"],"affiliations":[{"raw_affiliation_string":"InIAT Institute of Applied Research and Technology of Universidad Iberoamericana Ciudad de México,México,CP 01219","institution_ids":["https://openalex.org/I87806610","https://openalex.org/I205571821"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5065329018","display_name":"Guillermo Fern\u00e1ndez\u2010Anaya","orcid":"https://orcid.org/0000-0002-9695-3409"},"institutions":[{"id":"https://openalex.org/I205571821","display_name":"Ibero American University","ror":"https://ror.org/05vss7635","country_code":"MX","type":"education","lineage":["https://openalex.org/I205571821"]},{"id":"https://openalex.org/I87806610","display_name":"Ibero-American University Puebla","ror":"https://ror.org/00pcv0g02","country_code":"MX","type":"education","lineage":["https://openalex.org/I87806610"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"G. Fernandez-Anaya","raw_affiliation_strings":["Universidad Iberoamericana Ciudad de México,Mathematical and Physics Department,México,CP 01219"],"affiliations":[{"raw_affiliation_string":"Universidad Iberoamericana Ciudad de México,Mathematical and Physics Department,México,CP 01219","institution_ids":["https://openalex.org/I87806610","https://openalex.org/I205571821"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5088938828","display_name":"N. Lozada-Castillo","orcid":null},"institutions":[{"id":"https://openalex.org/I59361560","display_name":"Instituto Polit\u00e9cnico Nacional","ror":"https://ror.org/059sp8j34","country_code":"MX","type":"education","lineage":["https://openalex.org/I59361560"]}],"countries":["MX"],"is_corresponding":false,"raw_author_name":"N. Lozada-Castillo","raw_affiliation_strings":["UPIITA-IPN,Mexico City,Mexico","UPIITA-IPN, Mexico City, Mexico"],"affiliations":[{"raw_affiliation_string":"UPIITA-IPN,Mexico City,Mexico","institution_ids":["https://openalex.org/I59361560"]},{"raw_affiliation_string":"UPIITA-IPN, Mexico City, Mexico","institution_ids":["https://openalex.org/I59361560"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":6,"corresponding_author_ids":["https://openalex.org/A5024323175"],"corresponding_institution_ids":["https://openalex.org/I205571821","https://openalex.org/I87806610"],"apc_list":null,"apc_paid":null,"fwci":0.3545,"has_fulltext":false,"cited_by_count":1,"citation_normalized_percentile":{"value":0.47472194,"is_in_top_1_percent":false,"is_in_top_10_percent":false},"cited_by_percentile_year":{"min":90,"max":94},"biblio":{"volume":null,"issue":null,"first_page":"2295","last_page":"2300"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11615","display_name":"Control and Dynamics of Mobile Robots","score":0.9993000030517578,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10040","display_name":"Adaptive Control of Nonlinear Systems","score":0.9807999730110168,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11394","display_name":"Dynamics and Control of Mechanical Systems","score":0.9685999751091003,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.752380907535553},{"id":"https://openalex.org/keywords/kinematics","display_name":"Kinematics","score":0.6891448497772217},{"id":"https://openalex.org/keywords/mobile-robot","display_name":"Mobile robot","score":0.6631252765655518},{"id":"https://openalex.org/keywords/active-disturbance-rejection-control","display_name":"Active disturbance rejection control","score":0.6558999419212341},{"id":"https://openalex.org/keywords/trajectory","display_name":"Trajectory","score":0.6209114193916321},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.6163198947906494},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.59751957654953},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.5771849155426025},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.5001063346862793},{"id":"https://openalex.org/keywords/omnidirectional-antenna","display_name":"Omnidirectional antenna","score":0.4924362599849701},{"id":"https://openalex.org/keywords/feed-forward","display_name":"Feed forward","score":0.4632498025894165},{"id":"https://openalex.org/keywords/mechanism","display_name":"Mechanism (biology)","score":0.4286811053752899},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4215450882911682},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.30865809321403503},{"id":"https://openalex.org/keywords/state-observer","display_name":"State observer","score":0.2799411416053772},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.2763932943344116},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.21028396487236023},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.11799633502960205}],"concepts":[{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.752380907535553},{"id":"https://openalex.org/C39920418","wikidata":"https://www.wikidata.org/wiki/Q11476","display_name":"Kinematics","level":2,"score":0.6891448497772217},{"id":"https://openalex.org/C19966478","wikidata":"https://www.wikidata.org/wiki/Q4810574","display_name":"Mobile robot","level":3,"score":0.6631252765655518},{"id":"https://openalex.org/C2778072542","wikidata":"https://www.wikidata.org/wiki/Q4677499","display_name":"Active disturbance rejection control","level":4,"score":0.6558999419212341},{"id":"https://openalex.org/C13662910","wikidata":"https://www.wikidata.org/wiki/Q193139","display_name":"Trajectory","level":2,"score":0.6209114193916321},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.6163198947906494},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.59751957654953},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.5771849155426025},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.5001063346862793},{"id":"https://openalex.org/C24027999","wikidata":"https://www.wikidata.org/wiki/Q2176348","display_name":"Omnidirectional antenna","level":3,"score":0.4924362599849701},{"id":"https://openalex.org/C38858127","wikidata":"https://www.wikidata.org/wiki/Q5441228","display_name":"Feed forward","level":2,"score":0.4632498025894165},{"id":"https://openalex.org/C89611455","wikidata":"https://www.wikidata.org/wiki/Q6804646","display_name":"Mechanism (biology)","level":2,"score":0.4286811053752899},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4215450882911682},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.30865809321403503},{"id":"https://openalex.org/C3031470","wikidata":"https://www.wikidata.org/wiki/Q818544","display_name":"State observer","level":3,"score":0.2799411416053772},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.2763932943344116},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.21028396487236023},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.11799633502960205},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.0},{"id":"https://openalex.org/C74650414","wikidata":"https://www.wikidata.org/wiki/Q11397","display_name":"Classical mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C111472728","wikidata":"https://www.wikidata.org/wiki/Q9471","display_name":"Epistemology","level":1,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C21822782","wikidata":"https://www.wikidata.org/wiki/Q131214","display_name":"Antenna (radio)","level":2,"score":0.0},{"id":"https://openalex.org/C1276947","wikidata":"https://www.wikidata.org/wiki/Q333","display_name":"Astronomy","level":1,"score":0.0},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C138885662","wikidata":"https://www.wikidata.org/wiki/Q5891","display_name":"Philosophy","level":0,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/case49997.2022.9926626","is_oa":false,"landing_page_url":"https://doi.org/10.1109/case49997.2022.9926626","pdf_url":null,"source":{"id":"https://openalex.org/S4363607892","display_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2022 IEEE 18th International Conference on Automation Science and Engineering (CASE)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":0,"referenced_works":[],"related_works":["https://openalex.org/W2286391053","https://openalex.org/W2982600058","https://openalex.org/W1963486701","https://openalex.org/W2312483540","https://openalex.org/W4249477090","https://openalex.org/W191745111","https://openalex.org/W1522083559","https://openalex.org/W2007570603","https://openalex.org/W2808224918","https://openalex.org/W2898852364"],"abstract_inverted_index":{"In":[0],"this":[1],"article,":[2],"the":[3,40,55,59,65,69,73,81,87,93,104,107,125,128],"problem":[4],"of":[5,18,29,68,127,134],"designing":[6],"a":[7,16,35,101,110,116],"practical":[8,66],"active":[9],"disturbance":[10,138],"rejection":[11],"control":[12,74],"(ADRC)":[13],"scheme":[14,131],"for":[15],"class":[17],"differentially":[19],"flat":[20],"omnidirectional":[21],"mobile":[22],"robots":[23],"is":[24,31,77],"addressed.":[25],"A":[26],"custom":[27],"version":[28],"ADRC":[30,71],"proposed":[32,70,129],"that":[33,38],"uses":[34],"special":[36],"observer":[37,60],"allows":[39],"controller":[41,112],"feedforward":[42],"input":[43],"to":[44,53],"be":[45],"designed":[46],"with":[47,103],"an":[48,121],"anti-peaking":[49],"functionality,":[50],"which":[51],"helps":[52],"decrease":[54],"peaking":[56],"phenomenon":[57],"in":[58,120,132],"response.":[61],"To":[62],"further":[63],"increase":[64],"appeal":[67],"design,":[72],"algorithm":[75],"here":[76],"derived":[78],"using":[79,115],"only":[80,94],"robot":[82,88,118],"kinematic":[83],"model":[84],"and":[85,90,109,137],"assumes":[86],"position":[89],"orientation":[91],"as":[92],"available":[95],"system":[96],"information.":[97],"Experimental":[98],"results,":[99],"including":[100],"comparison":[102],"proposal":[105],"without":[106],"mechanism":[108],"classic":[111],"are":[113],"shown":[114],"laboratory":[117],"operating":[119],"irregular":[122],"terrain,":[123],"verifying":[124],"effectiveness":[126],"governing":[130],"terms":[133],"trajectory":[135],"tracking":[136],"rejection.":[139]},"counts_by_year":[{"year":2024,"cited_by_count":1}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}